Bj. Mccarragher et al., HYBRID DYNAMIC MODELING AND CONTROL OF CONSTRAINED MANIPULATION SYSTEMS, IEEE robotics & automation magazine, 4(2), 1997, pp. 27-44
Citations number
36
Categorie Soggetti
Computer Sciences, Special Topics","Robotics & Automatic Control
Discrete event systems are presented as a powerful framework for a lar
ge number of robot control tasks. This paper presents a general descri
ption of the discrete event modeling and control synthesis for robot m
anipulation, Additionally, methods for the effective monitoring of the
process based on the detection and identification of discrete events
are given, The effectiveness and versatility of the approach are demon
strated through a wide variety of experiments, Applications are demons
trated in assembly, on-line training of robots, advanced perception ca
pabilities, human-robot shared control and the understanding of human
manipulation skills.